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Warrants to Acquire Shares of Common Stock - Warrants Outstanding (Details) - $ / shares
shares in Thousands
 12 Months Ended
Jan. 02, 2020
Dec. 31, 2021
Class of Warrant or Right, Outstanding [Roll Forward]    
Outstanding, beginning of period (in shares)   1,392
Exercised (in shares) (63) (873)
Outstanding, end of period (in shares)   519
Exercise price (in dollars per share) $ 7.50  
Common stock warrants    
Class of Warrant or Right, Outstanding [Roll Forward]    
Outstanding, beginning of period (in shares)   1,378
Exercised (in shares)   (873)
Outstanding, end of period (in shares)   505
January 2020 Offering | Common stock warrants    
Class of Warrant or Right, Outstanding [Roll Forward]    
Outstanding, beginning of period (in shares)   719
Exercised (in shares)   (410)
Outstanding, end of period (in shares)   309
Exercise price (in dollars per share)   $ 3.93
July 2020 PIPE Offering | Common stock warrants    
Class of Warrant or Right, Outstanding [Roll Forward]    
Outstanding, beginning of period (in shares)   445
Exercised (in shares)   (420)
Outstanding, end of period (in shares)   25
Exercise price (in dollars per share)   $ 3.30
July 2018 Offering | Common stock warrants    
Class of Warrant or Right, Outstanding [Roll Forward]    
Outstanding, beginning of period (in shares)   141
Exercised (in shares)   (9)
Outstanding, end of period (in shares)   132
Exercise price (in dollars per share)   $ 7.50
March 2019 Exercise Agreement | Common stock warrants    
Class of Warrant or Right, Outstanding [Roll Forward]    
Outstanding, beginning of period (in shares)   63
Exercised (in shares)   (33)
Outstanding, end of period (in shares)   30
Exercise price (in dollars per share)   $ 7.50
Other | Common stock warrants    
Class of Warrant or Right, Outstanding [Roll Forward]    
Outstanding, beginning of period (in shares)   10
Exercised (in shares)   (1)
Outstanding, end of period (in shares)   9
Exercise price (in dollars per share)   $ 306.66
Warrants classified as liability:    
Class of Warrant or Right, Outstanding [Roll Forward]    
Outstanding, beginning of period (in shares)   14
Exercised (in shares)   0
Outstanding, end of period (in shares)   14
Exercise price (in dollars per share)   $ 729.94